    ["dash-astar-nos" `(da/implicit-dash-a* (nsh ~'init) :abstract? false)]
    ["dash-astar-nods" `(da/implicit-dash-a* (nsh ~'init) :abstract? false :decompose? false)]])
 
-
-
 (defn make-ns-exps [& [test]]
   (for [[n f] ns-algs]
-    [n [(fn [sz rep]
+    [n [(fn [sz rep] 
           (let [size (nth +ns-sizes+ sz)]
             (experiments/make-experiment
              (str n "-" sz "-" rep)

                 :dash-astar-sh-nods :inv-dsh-ucs :dash-astar :dash-astar-ldfs
                 :dash-astar-sh-nos :dash-astar-sh-hoc  :dash-astar-sh ])

(defn make-dm-charts []
  (make-chart
   (:smaller @dm-results) dm-alg-ord #_ :opt-count  :secs
   {:ylog  "t"   :xtics "1" ;:yrange "[0.3:300]" ;:xlog "t"  :yrange "[0.01:100]"
    :title (str "discrete manipulation problems") :xlabel "\\# of objects" :ylabel "runtime (s)"}))


;; note: sahtn with dijkstra, not as described.


;; Skip: explicit-ah-astar explicit-dash-astar

#_(def ns-slow-algs [:go-dfbb :sahtn :dsh-ucs :inv-dsh-ucs :h-ucs :optimistic-ah-astar :strict-ah-astar :dijkstra :astar 
                   :full-ah-astar :dash-astar ;-ldfs 
                   ])

(def ns-slow-algs [:go-dfbb :sahtn :dsh-ucs :inv-dsh-ucs :h-ucs :optimistic-ah-astar :strict-ah-astar :dash-astar-nods :dijkstra :astar :dash-astar-first :dash-astar  :dash-astar-hoc :dash-astar-nos 
                   :full-ah-astar :dash-astar-ldfs 
                   ])

(def ns-fast-algs [:optimistic-ah-astar :strict-ah-astar
                   :dash-astar-nods :dijkstra :astar :dash-astar-first :dash-astar  :dash-astar-hoc :dash-astar-nos 
                   :full-ah-astar :dash-astar-ldfs ])


(defn make-ns-charts []
  (let [opts (fn [t yr]
               {:title (str "nav-switch - runtime - " t " algorithms")
                :xlabel "grid side length" :ylabel "runtime (s)"
                :xrange "[5:500]" :yrange yr})]
    (make-chart @ns-results ns-slow-algs :secs (opts "all" "[0:50]") nil "ns-slow.pdf")
    (make-chart @ns-results ns-fast-algs :secs (opts "faster" "[0:9]") nil "ns-fast.pdf")))



